By: David Gitz, EE, Robo-Chopper Lead Engineer
System DescriptionCapabilities and Applications
Development ProgressRequest
Quad-Rotor design – Offers simpler control system with less moving parts than a normal helicopter and minor reduction in lift capacity
Primary Controller
Compass DriverCompass
Gyroscope
Accelerometer
INU
Main Program:Mission PlannerMode Selection
Object Avoidance
GPS
Auto/Manual Commands
Secondary Controller
Main Program
Motor Commands > Motor Output Mapping
ESC (4) Motor (4)
Status Indicator
Throttle CommandAngle Command:Yaw, Pitch, Roll
Φ: Y,P,R
D: 1-5
Encoder (4)
Ultrasonic (5)
TTY TTY TTY
DO
Pulse
ECCP
PWM
V+
Ω:1-4
Radio
TTY
Altimeter Altimeter Driver
γ:Y
Displacement: R:x,y,z
Angle: Ωγ:P,R
Altitude
Compass
Gyroscope
Accelerometer
Compass Driver
Secondary-INUKalman Filter(2-Axis Tilt)
Free-Fall Control
Encoder Driver
Ultrasonic Driver
ω:1-4
D:1-5
φ:Y
φ:P,R
Zero-G Indicator
2 “Brains”, 1 SoM Board and 1 Parallax Propeller
SoM handles waypoint navigation, mission planning, vehicle health.
Propeller handles PWM generation, Kalman Filter.
In the event of an in-air mishap, Propeller Controller can take over Vehicle land safely.
Custom PCB inside Xbox-360 Controller
Features Mode and Error Display, Vehicle Battery Indicator, Force-Feedback and 5 hours of continuous operation.
Used for Vehicle Calibration and Capacity measurements
Able to Pivot vertically and rotate continuously
Power applied to Vehicle via Slip-Ring – No tangled wires
GCS offers extended range – up to 3 km
Interface designed in LabView
With Internet connection, Google Earth integration
Vehicle
RCUGCS
Using Xbee API Mode, Vehicle, GCS and RCU all talk to each other
RCU or GCS can extend flight range of Vehicle due to API mesh network.
Capabilities - Planned
Manual Control via RCU or GCS Simple Calibration and Testing via Test-Stand
Limited Autonomous Navigation via RCU
Error Display on RCU and GCS
Waypoint Navigation Force-Feedback on RCU
Automatic Takeoff, Hover and Landing
Vehicle Health Reporting
Capabilities - Future
Real-Time Video Transmission to GCS
Image Capture
Wireless airborne programming Advanced Hover modes
Vehicle Status Audio via RCU Extended System Duration
Configurable Payloads Terrain Following
Industry Applications
Home Inspecting Roof and Exterior Surveying
Civil Engineering Bridge Inspection
Law Enforcement Search, Crime Scene Investigation
Military Reconnaissance
Hobbyists Development Platform – Completely Open Source
Environmental Nature Surveying and Data Collection
Phase 5Phase 4Phase 3Phase 2
InterfaceP1GCS
Remote ControlP1RC
Test-StandP1TS
VehicleP1V
Ground StationP1GS
Testing and Validation
P1T
InterfaceP2GCS
Remote ControlP2RC
Test-StandP2TS
VehicleP2V
Testing and Validation
P2T
VehicleP3V
Testing and Validation
P3T
VehicleP4V
Testing and Validation
P4T
VehicleP5V
Testing and Validation
P5T
Phase 1
Cost: 30% of material/part cost invested. Tasks: 23% of defined tasks completed. Currently in Phase 1 with limited
development in Phase 2.
System System Total: Un-Funded: Funded: # Tasks # Completed % Complete
RCU: $265.55 $58.96 $206.59 18 8 44%Test-Stand: $881.72 $881.72 $0.00 15 3 20%GCS: $153.75 $0.00 $153.75 12 4 33%Vehicle: $889.95 $599.65 $290.30 34 3 9%Total: $2,190.97 $1,540.33 $650.64 79 18 23%
Need People! Computer Engineer Mechanical Engineer Project Manager Technical Writer Marketing/PR Aerospace Engineer
Contact: [email protected] www.thesciencedude.com